6-D pose estimation method for large gear structure assembly using monocular vision

Zhou, Kuai; Huang, Xiang; Li, Shuanggao; Li, Hangyu; Kong, Shengjie

doi:10.1016/j.measurement.2021.109854

Cited by 19 publications

(6 citation statements)

References 27 publications

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“…Internal or external teeth have three critical features: an auxiliary circle, an addendum circle, missing teeth or a spline. The method proposed in [3,30] is used for processing. Figure 4 depicts the final result.…”

Section: Key Feature Image Processingmentioning

confidence: 99%

Online measurement method for assembly pose of gear structure based on monocular vision

Kong

Zhou

Huang

2023

Meas. Sci. Technol.

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The gear structure is an important part of the transmission device. The majority of manual methods are currently used to complete the assembly of the large internal gear. Manual assembly is difficult and inefficient. Therefore, an online measurement method for the assembly pose of the gear structure based on monocular vision is proposed. After the critical features of the gear structure have been detected, a duality elimination method based on traversal mapping dots is proposed to obtain the correct solution for the spatial circle pose. Concurrently, the circle pose optimization model is established to enhance pose precision. Then, a new calibration board was designed to finish the hand-eye calibration of the parallel mechanism and camera. Finally, the correction amount required to complete the internal and external teeth assembly is calculated based on the iterative update of the pose measurement method. Experimental results show that the comprehensive accuracy of the pose measurement method exceeds 0.2 mm, the average assembly time is approximately 14 minutes, and the assembly success rate is approximately 97%. It has been realized that simulation gear structure parts can be assembled automatically.

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Section: Key Feature Image Processingmentioning

confidence: 99%

Online measurement method for assembly pose of gear structure based on monocular vision

Kong

Zhou

Huang

2023

Meas. Sci. Technol.

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“…The method using monocular vision, it estimates the position and the orientation of object from its images captured by a single camera [ 8 , 9 , 10 ]. In [ 8 ], a sampling moiré method is used to measure the displacement in the z -direction with 30 μm error for 20 cm distance, but it assumes that the displacement in the x - y direction is negligibly small.…”

Section: Introductionmentioning

confidence: 99%

“…However, the results of the posture measurements are not shown. In [ 10 ], 6DOF measurements were made on a ring-shaped object with a radius of 80 mm, with a displacement error of 0.05 mm and an angular error of 0.004 rad (0.23 deg) estimated at a distance of 40–50 cm. These studies evaluated errors in a few measurements and did not examine whether linearity was valid across the measurement range.…”

Section: Introductionmentioning

confidence: 99%

Sensing Algorithm to Estimate Slight Displacement and Posture Change of Target from Monocular Images

Ito

Yoneyama

Akiyama

et al. 2023

Sensors

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Various types of displacement sensors, which measure position changes of object, have been developed depending on the type and shape of the object under measurement, measurement range of the amount of displacement, required accuracy, and application. We are developing a new type of displacement sensor that is image-based, capable of measuring changes in 6DOF (3D position and orientation) of an object simultaneously, and is compact and low-cost. This displacement sensor measures the 6DOF of an object using images obtained by a monocular vision system. To confirm the usefulness of the proposed method, experimental measurements were conducted using a simple and inexpensive optical system. In this experiment, we were able to accurately measure changes of about 0.25 mm in displacement and 0.1 deg in inclination of the object at a distance of a few centimeters, and thus confirming the usefulness of the proposed method.

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“…The vision positioning algorithm is divided into two steps: key features acquisition and feature-based pose calculation. The key features on the object must be simple and easy to identify, such as points [ 7 , 8 ], circles [ 9 ], lines [ 10 , 11 ], etc. The disc cutter holder has typical line features but no obvious corner points, and in reality, there may be a certain amount of mud on the surface.…”

Section: Introductionmentioning

confidence: 99%

Line-Features-Based Pose Estimation Method for the Disc Cutter Holder of Shield Machine

Xie

Zhu

Zhang

et al. 2023

Sensors

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To achieve automatic disc cutter replacement of shield machines, measuring the accurate pose of the disc cutter holder by machine vision is crucial. However, under polluted and restricted illumination conditions, achieving pose estimation by vision is a great challenge. This paper proposes a line-features-based pose estimation method for the disc cutter holder of the shield machine by using a monocular camera. For the blurring effect of rounded corners on the image edge, a rounded edge model is established to obtain edge points that better match the 3D model of the workpiece. To obtain the edge search box corresponding to each edge, a contour separation method based on an adaptive threshold region growing method is proposed. By preprocesses on the edge points of each edge, the efficiency and the accuracy of RANSAC linear fitting are improved. The experimental result shows that the proposed pose estimation method is highly reliable and can meet the measurement accuracy requirements in practical engineering applications.

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6-D pose estimation method for large gear structure assembly using monocular vision

Cited by 19 publications

References 27 publications

Online measurement method for assembly pose of gear structure based on monocular vision

Online measurement method for assembly pose of gear structure based on monocular vision

Sensing Algorithm to Estimate Slight Displacement and Posture Change of Target from Monocular Images

Line-Features-Based Pose Estimation Method for the Disc Cutter Holder of Shield Machine

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